// Copyright (c) 2024，D-Robotics.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include <vector>
#include <cstdint>
#include <string>

struct imu_struct {
  using ImuDataType = std::pair<std::vector<float>, uint64_t>;
  virtual int init(const std::string &config_file) = 0;
  virtual int read(ImuDataType &imu_data) = 0;
  virtual int deinit() = 0;
};
